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The objective of this work is the creation of a control algorithm for a lower limb exoskeleton that allows assistance for the performance of different lower-limb daily tasks using a state machine. Said algorithm will be customized by adapting to both the subject’s need and the environment variables. The algorithm uses impedance-controlled torque calculation fed with a dataset obtained from healthy subjects. For the testing of the algorithm, a state machine and an exoskeleton from Fourier Intelligence customized with additional sensors will be used.

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Development of a Customizable Assistance Algorithm for Lower-Limb Exoskeleton

  • 会议论文

  • 发表日期：

    2025年

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  • Alberto Cantón,
  • Clément Lhoste,
  • Lorenzo Vianello,
  • Jesús Tornero,
  • Jose L. Pons

摘要

The objective of this work is the creation of a control algorithm for a lower limb exoskeleton that allows assistance for the performance of different lower-limb daily tasks using a state machine. Said algorithm will be customized by adapting to both the subject’s need and the environment variables. The algorithm uses impedance-controlled torque calculation fed with a dataset obtained from healthy subjects. For the testing of the algorithm, a state machine and an exoskeleton from Fourier Intelligence customized with additional sensors will be used.